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      <td class="subheader-left"><a href="matlab:open joy2tr">View code for joy2tr</a></td>
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<h1>joy2tr</h1><p><span class="helptopic">Update transform from joystick</span></p><p>
<strong>T</strong> = <span style="color:red">joy2tr</span>(<strong>T</strong>, <strong>options</strong>) updates the homogeneous transform according to a
connected joystick device.

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<h2>Options</h2>
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  <tr><td style="white-space: nowrap;" class="col1">'delay', D</td> <td>Pause for D seconds after reading (default 0.1)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1">'scale', S</td> <td>A 2-vector which scales joystick translational and
rotational to rates (default [0.5m/s, 0.25rad/s])</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> 'world'</td> <td>Joystick motion is in the world frame</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> 'tool'</td> <td>Joystick motion is in the tool frame (default)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1">'rotate', R</td> <td>Index of the button used to enable rotation (default 7)</td></tr>
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<h2>Notes</h2>
<ul>
  <li>Joystick axes 0,1,3 map to X,Y,Z or R,P,Y motion.</li>
  <li>A joystick button enables the mapping to translation OR rotation.</li>
  <li>A 'delay' of zero means no pause</li>
  <li>If 'delay' is non-zero 'scale' maps full scale to m/s or rad/s.</li>
  <li>If 'delay' is zero 'scale' maps full scale to m/sample or rad/sample.</li>
</ul>
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<p class="copy">&copy; 1990-2014 Peter Corke.</p>
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